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		<h1>CSC560</h1>
		<h2>Design and Analysis of Real-Time Systems</h2>
		<ul>
			<li class="first"> <a href="../index.html" accesskey="1" title="">Home</a> </li>
			<li> <a href="../project1/index.html" accesskey="2" title="">Project 1</a>	</li>
			<li> <a href="../project2/index.html" accesskey="3" title="">Project 2</a> </li>
			<li> <a href="../project3/index.html" accesskey="4" title="">Project 3</a> </li>
			<li> <a href="../project4/index.html" accesskey="4" title="">Project 4</a> </li>
			<li> <a href="index.html" accesskey="4" title=""><b>Project 5</b></a> </li>
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		<h2>Hardware Description</h2>
		<p>This section describes the hardware components used for this project. Most components are the same as in project 1. However,
		we have added a new component, which is an IR Beacon.</p>
		<h2>The brain: AT90USBKey</h2>
		<p>
			For this project, we are using 2 AT90USBKey boards. One serves as the cat and the other as the mouse. 
			This board contains the AT90USB1287	microcontroller and 
			the components relevant to our project are the USB interfaces, I/O ports, bi-color LEDs.
			<p>
			<a href="images/at90usbkey.jpg"><img src="images/at90usbkey.jpg" alt="" width="100%"/></a>
			</p>
		<p>
			The USB interface is needed for two reasons. First, it provides power to 
			the board. Second, programs written from the computer can be 
			installed on the board via USB. 
		</p>
		<p>
			The I/O ports are needed in order to interface with	other component such as the radio, 
			the IR Beacon, and the FTDI FT232R USB breakout board for testing purposes.
		</p> 
		<p>
			The bi-color LEDs are also very important components since they can be used to debug our programs.
			Instructions can be inserted in our code to turn on/off LEDs in order to know if certain
			parts of our code has been executed.
		</p>
		
		<p>
			Features of the AT90USBKey are:
			<ul>
					<li>Flash Memory : 128 kB
					<li>Clock FrequenClock Frequency : 	0 - 16 MHz
					<li>Supply Voltage : 2.7 - 5.5 V</li>
					<li>Interrupt pins: 8 </li>
					<li>I/O Pins : 48</li>
					<li>On-Chip debug support with JTag</li>
					<li>Serial I/O : Full Duplex SPI, Full Duplex USART</li>
					<li>Timers / Counters : 2</li>
				</ul>
		</p>
		<p>
			Other functionalities provided by the microcontroller are USART 
			communication, interrupts, timers, and others.
		</p>
		<h2>The communication channel: nRF24L01 Radio</h2>
		<p>
			The nRF24L01 radio controller is a new component introduced this semester to 
			create a wireless communication link between the control and roomba stations.
			It is built on a MiRF-v2 board composed of a voltage regulator, 16 MHz oscillator,
			8-pin breakout, external antenna connector, and other electronic components.
			<p>
			<a href="images/radio.jpg"><img src="images/radio.jpg" alt="" width="50%"/></a>
			</p>
		</p>
		<h2>The eyes: Poloru IR Beacon Transceiver</h2>
		<p>
			A pair of IR Beacons are used as eyes of the cat and the mouse. One is installed on the cat, and the
			other is installed on the mouse. Each IR Beacon is composed of 4 sensors: north, south, east, and west.
			When a sensor detects an infrared signal, the corresponding LED is turned red. Many sensors can detect signals 
			at the same time and therefore turning on different LEDs at once. However, at most one sensor pin becomes low
			at any given time, which is the one receives the strongest signal. Cat and Mouse therefore can use the IR Beacon Transceivers to detect each other.
			<br><br>
			In total, there are four IR beacon sensors on the underside and six transmitters on the topside of the Poloru Transceiver.
			It has the following specifications:
			<ul>- PCB size: 1.35" circle </ul> 			
			<ul>- IR modulation frequency: 56 kHz </ul> 			
			<ul>- Output refresh rate 20 Hz </ul> 			
			<ul>- Detection range: 6 inches to 20 feet </ul> 			
			<ul>- Supply voltage: 6-16 V</ul> 			
			<ul>- Data voltage: 5 V </ul> 
			<ul>- Number of IR detectors: 4</ul>		
			<ul>- Number of IR transmitters: 6</ul>	
			For more information on the IR Beacon, please
			visit the following <a href="http://www.pololu.com/catalog/product/701">web site</a>.
			<p>
			<a href="images/IRBeacon-0.jpg"><img src="images/IRBeacon-0.jpg" alt="Poloru IR Beacon Transceiver" width="50%"/></a>
			</p>
		</p>
		<h2>FTDI FT232R USB breakout board</h2>
		<p>
			The FT232R is a USB to serial UART interface with optional clock generator 
			output. This board was connected to the AT90USBKey and also via USB to our computer.
			It is used primarily to display information, e.g. print strings to a
			computer terminal. It was used as debugging purpose.
			It uses SPI (Serial Peripheral Interface), which is a full-duplex interface, meaning 
			that it can sends data in both direction at once, but on separate lines.
			<p>
			<a href="images/uart.jpg"><img src="images/uart.jpg" alt="" width="50%"/></a>
			</p>
		</p>
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		<h3>Project Sections</h3>
		<ul>
			<li class="first"><a href="01_hardware_description.html"><b>Hardware Description</b></a></li>
			<li><a href="02_software_design.html">Software Design</a></li>
			<li><a href="03_implementation_approach.html">Implementation Approach</a></li>
			<li><a href="04_development_process.html">Development Process</a></li>
			<li><a href="05_doxygen.html">Doxygen</a></li>
			<li><a href="http://code.google.com/p/wireless-roomba">Google Code</a></li>
			<li><a href="07_future_work.html">Future Work</a></li>
		</ul>
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